Full-automatic shaking-up manipulator

Abstract

The utility model discloses a full-automatic shake-up manipulator, which relates to the technical field of coal shake-up and comprises a base, a rotating table is fixedly arranged at the top of the base, the top of the rotating table is fixedly connected to the bottom end of a big arm, and the other end of the big arm is fixedly connected with a front arm driving box. The output end of the forearm driving box body is fixedly connected with a forearm, the front end of the forearm is connected with a wrist forearm, the other end of the wrist forearm is movably connected with a wrist, and the end, away from the wrist forearm, of the wrist is fixedly connected with a clamping mechanism. By means of automatic operation of the mechanical arm, shaking work of a coal sample can be rapidly completed, compared with manual shaking, the working efficiency is greatly improved, the large-scale and high-efficiency coal quality analysis requirement of the coal industry is met, manual shaking is replaced by the full-automatic shaking mechanical arm, the labor intensity of workers is effectively relieved, and the labor intensity of workers is reduced. The damage to the body health of workers caused by long-time repeated labor is avoided, and the comfort degree of the working environment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of coal shaking, in particular to a full-automatic shaking manipulator. Background Technique

[0002] In the coal industry, coal quality analysis is an important link to ensure coal quality and guide coal processing and utilization. Among them, the determination of the total moisture content in coal is a basic and key task in coal quality analysis. The accurate determination of the total moisture content is of great significance for evaluating the combustion efficiency, storage stability and economic value of coal. In the traditional coal quality analysis process, in order to make the coal particles in the coal sample reach a uniform state for more accurate determination of its total moisture content, manual shaking operation is usually required.

[0003] However, there are many disadvantages in manual shaking: one is low efficiency, and manual operation cannot quickly complete the shaking work of a large number of coal samples; the other is high labor intensity, and long-term manual shaking is easy to cause fatigue of workers, affecting work efficiency and physical health; the third is that the shaking effect is greatly affected by human factors, and the differences in operation methods and forces of different workers may lead to different degrees of shaking of coal samples, thus affecting the accuracy of the measurement results. Therefore, the utility model proposes a full-automatic shaking manipulator. Content of the Utility Model

[0004] The purpose of the utility model is to provide a full-automatic shaking manipulator to solve the problems of many disadvantages in manual shaking mentioned in the above background technique: one is low efficiency, and manual operation cannot quickly complete the shaking work of a large number of coal samples; the other is high labor intensity, and long-term manual shaking is easy to cause fatigue of workers, affecting work efficiency and physical health; the third is that the shaking effect is greatly affected by human factors, and the differences in operation methods and forces of different workers may lead to different degrees of shaking of coal samples, thus affecting the accuracy of the measurement results.

[0005] In order to achieve the above purpose, the utility model provides the following technical scheme:

[0006] A full-automatic shaking manipulator includes a base. The manipulator further includes a rotating table, a large arm, a small arm, a wrist forearm, a wrist and a clamping mechanism. The top of the base is fixedly provided with a rotating table. The top of the rotating table is fixedly connected to the bottom end of the large arm. The other end of the large arm is fixedly connected with a forearm driving box body. The output end of the forearm driving box body is fixedly connected with a small arm. The front end of the small arm is connected with a wrist forearm, and the other end of the wrist forearm is movably connected with a wrist. The end of the wrist away from the wrist forearm is fixedly connected with a clamping mechanism.

[0007] Optionally, a first motor is arranged beside the top of the rotating table, and a second motor and a third motor are respectively installed on the outer parts of both ends of the large arm.

[0008] Optionally, the clamping mechanism includes a bearing plate, a driving box, a first half gear, a first connecting rod, a first clamping rod, a first connecting bar, a second half gear, a second connecting rod, a second clamping rod and a second connecting bar. The bearing plate is fixedly connected to the side of the wrist. A driving box is fixedly installed on the side plate of the bearing plate, and a first half gear is movably arranged on the opposite side of the bearing plate with respect to the driving box. The outer part of the first half gear is movably connected to a first connecting rod, and the other end of the first connecting rod is movably connected to a first clamping rod. Below the first half gear and on the bearing plate, there is a first connecting bar. The second half gear, the second connecting rod, the second clamping rod and the second connecting bar are correspondingly arranged on the side of the bearing plate with respect to the first half gear.

[0009] Optionally, the end of the first connecting bar away from the bearing plate is movably connected to the middle of the first clamping rod.

[0010] Optionally, the third motor drives the forearm to rotate relative to the upper arm.

[0011] Optionally, the first half gear meshes with the second half gear.

[0012] Optionally, the output end of the driving box penetrates through the bearing plate and is movably connected to the second half gear.

[0013] The beneficial effects of the present utility model are as follows:

[0014] Through the automatic operation of the manipulator, the present utility model can quickly complete the shaking work of coal samples. Compared with manual shaking, the work efficiency is greatly improved, meeting the requirements of large-scale and high-efficiency coal quality analysis in the coal industry. The fully automatic shaking manipulator replaces manual shaking, effectively reducing the labor intensity of workers, avoiding the damage to the physical health of workers caused by long-term repetitive labor, and improving the comfort of the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural view of a fully automatic shaking manipulator of the present utility model;

[0016] Figure 2 is a schematic structural view of another perspective of a fully automatic shaking manipulator of the present utility model;

[0017] Figure 3 is a schematic structural view of the clamping mechanism in the present utility model.

[0018] The reference numerals in the drawings are:

[0019] 1. Base; 2. Rotating table; 3. First motor; 4. Boom; 5. Second motor; 6. Third motor; 7. Forearm drive box; 8. Forearm; 9. Wrist forearm; 10. Wrist; 11. Clamping mechanism; 1101. Bearing plate; 1102. Drive box; 1103. First half gear; 1104. First connecting rod; 1105. First clamping rod; 1106. First connecting bar; 1107. Second half gear; 1108. Second connecting rod; 1109. Second clamping rod; 1110. Second connecting bar. Detailed implementation manners

[0020] To make the technical means, creative features, achieved purposes and functions of the present utility model easy to understand, the present utility model will be further elaborated below in conjunction with specific implementation manners.

[0021] The following will describe this in conjunction with the preferred embodiments of the device of the present utility model.

[0022] Please refer to Figures 1-3 As shown, the full-automatic shaking manipulator includes a base 1. The manipulator further includes a rotating table 2, a boom 4, a forearm 8, a wrist forearm 9, a wrist 10 and a clamping mechanism 11. A rotating table 2 is fixedly provided at the top of the base 1. The rotating table 2 is connected to a first motor 3 through a transmission mechanism inside it to achieve 360-degree rotation, allowing the whole manipulator to move and position omnidirectionally on a horizontal plane to meet the shaking requirements of coal sample buckets at different positions. The top of the rotating table 2 is fixedly connected to the bottom end of the boom 4. The other end of the boom 4 is fixedly connected to a forearm drive box 7. The boom 4 connects the rotating table 2 and the forearm drive box 7 and bears the weight and torque from parts such as the forearm 8, the wrist forearm 9, the wrist 10 and the clamping mechanism 11. The output end of the forearm drive box 7 is fixedly connected to the forearm 8. The forearm 8 is driven by the output end of the forearm drive box 7 and can rotate relative to the boom 4. The front end of the forearm 8 is connected to the wrist forearm 9, and the other end of the wrist forearm 9 is movably connected to the wrist 10. The wrist 10 has independent degrees of freedom and can perform movements such as rotation and swinging, thereby expanding the movement range of the manipulator and making it more flexible and adaptable. The end of the wrist 10 far from the wrist forearm 9 is fixedly connected to the clamping mechanism 11.

[0023] Further, a first motor 3 is provided beside the top of the rotating table 2. The first motor 3 is the power source of the rotating table 2. When the first motor 3 is started, through a transmission mechanism such as gears or belts inside, electrical energy is converted into mechanical energy to drive the rotating table 2 to perform 360-degree rotation, thereby driving the manipulator to be positioned in different working areas. Second motors 5 and third motors 6 are respectively installed on the outer parts of both ends of the boom 4. The second motor 5 installed on the boom 4 is used to drive the boom 4 to swing up and down within a certain range to adjust the height and horizontal position of the manipulator.

[0024] Further, the third motor 6 drives the forearm 8 to rotate relative to the upper arm 4. The forearm 8 is driven by the output end of the forearm drive box 7 and can rotate relative to the upper arm 4. The third motor 6 is installed at the other end of the upper arm 4 and is specifically used to drive the rotation and swing of the forearm 8 to achieve more precise position adjustment.

[0025] In another embodiment provided by the present utility model, as Figure 3 shown, the clamping mechanism 11 includes a bearing plate 1101, a drive box 1102, a first half gear 1103, a first connecting rod 1104, a first clamping rod 1105, a first connecting bar 1106, a second half gear 1107, a second connecting rod 1108, a second clamping rod 1109 and a second connecting bar 1110. The bearing plate 1101 is fixedly connected to the side of the wrist 10. A drive box 1102 is fixedly installed on the side plate of the bearing plate 1101. A first half gear 1103 is movably arranged on the opposite side of the bearing plate 1101 with respect to the drive box 1102. The outside of the first half gear 1103 is movably connected to a first connecting rod 1104. The other end of the first connecting rod 1104 is movably connected to a first clamping rod 1105. Below the first half gear 1103 and on the bearing plate 1101, there is a first connecting bar 1106. The second half gear 1107, the second connecting rod 1108, the second clamping rod 1109 and the second connecting bar 1110 are correspondingly arranged on the side of the bearing plate 1101 with respect to the first half gear 1103.

[0026] Further, the output end of the drive box 1102 penetrates through the bearing plate 1101 and is movably connected to the second half gear 1107.

[0027] Further, the first half gear 1103 and the second half gear 1107 mesh with each other. When the second half gear 1107 is driven by the drive box 1102 to rotate, due to the tooth profile design of the two half gears, they will mesh with each other and transmit power.

[0028] Further, one end of the first connecting bar 1106 away from the bearing plate 1101 is movably connected to the middle of the first clamping rod 1105.

[0029] Specifically, by starting the motor in the drive box 1102, as the motor rotates, the second half gear 1107 is driven to rotate. The second half gear 1107 drives the first half gear 1103 to rotate. When the first connecting rod 1104 and the second connecting rod 1108 are pushed by the gears, the first clamping rod 1105 and the second clamping rod 1109 will move closer to or away from each other, thereby realizing the clamping or releasing of the coal sample bucket or other objects.

[0030] During use, after the manipulator is started, the clamping mechanism 11 is positioned in the unshaken sample area by adjusting the rotary table 2 and the boom 4. The drive box 1102 of the clamping mechanism 11 is started, and the first clamping rod 1105 and the second clamping rod 1109 are closed through the gear link system to clamp the coal sample bucket. The clamping mechanism 11 drives the coal sample bucket to rotate left and right for 15 seconds, and the fine adjustment of the wrist 10 is used to ensure that the rotation angle is controlled within 120 degrees. After the left and right shaking is completed, the clamping mechanism 11 drives the coal sample bucket to rotate 180 degrees or 360 degrees through the forearm drive box body 7, repeats 10 times, each rotation is about 1.5 seconds, for a total of about 15 seconds. The combination of left and right shaking and rotational shaking is carried out again, and finally ends with 5 seconds of left and right shaking. After the shaking is completed, the manipulator puts the coal sample bucket into the "shaken sample area" through the coordinated movement of the rotary table 2, the boom 4, and the forearm 8. The above steps are repeated until the shaking of 9 coal sample buckets is completed, or it automatically stops when no coal sample bucket is recognized or a stop signal is received, and resets to the initial state.

[0031] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic shaking manipulator, characterized in that: It includes a base (1), and the manipulator further includes a rotating table (2), a large arm (4), a small arm (8), a front wrist arm (9), a wrist (10) and a clamping mechanism (11). A rotating table (2) is fixedly provided at the top of the base (1). The top of the rotating table (2) is fixedly connected to the bottom end of the large arm (4). The other end of the large arm (4) is fixedly connected to a front arm drive box (7). The output end of the front arm drive box (7) is fixedly connected to a small arm (8). The front end of the small arm (8) is connected to a front wrist arm (9), and the other end of the front wrist arm (9) is movably connected to a wrist (10). The end of the wrist (10) away from the front wrist arm (9) is fixedly connected to a clamping mechanism (11).

2. The full-automatic shaking manipulator according to claim 1, wherein: A first motor (3) is provided beside the top of the rotating table (2). Second motors (5) and third motors (6) are respectively installed on the outer parts of both ends of the large arm (4).

3. The fully automatic shaking manipulator according to claim 1, wherein: The clamping mechanism (11) includes a carrier plate (1101), a drive box (1102), a first half-gear (1103), a first connecting rod (1104), a first clamping rod (1105), a first connecting bar (1106), a second half-gear (1107), a second connecting rod (1108), a second clamping rod (1109) and a second connecting bar (1110). The carrier plate (1101) is fixedly connected beside the wrist (10). A drive box (1102) is fixedly installed on the side plate of the carrier plate (1101). A first half-gear (1103) is movably provided on the opposite side of the carrier plate (1101) with respect to the drive box (1102). The first half-gear (1103) is movably connected to a first connecting rod (1104) on the outside. The other end of the first connecting rod (1104) is movably connected to a first clamping rod (1105). Below the first half-gear (1103) and on the carrier plate (1101), there is a first connecting bar (1106). The second half-gear (1107), the second connecting rod (1108), the second clamping rod (1109) and the second connecting bar (1110) are correspondingly arranged beside the carrier plate (1101) with respect to the first half-gear (1103).

4. The fully automatic shaking manipulator according to claim 3, wherein: The end of the first connecting bar (1106) away from the carrier plate (1101) is movably connected to the middle of the first clamping rod (1105).

5. The fully automatic shaking manipulator according to claim 2, characterized in that: The third motor (6) drives the small arm (8) to rotate relative to the large arm (4).

6. The full-automatic shaking manipulator according to claim 3, characterized in that: The first half-gear (1103) meshes with the second half-gear (1107).

7. The full-automatic shaking manipulator according to claim 3, wherein: The output end of the drive box (1102) penetrates through the carrier plate (1101) and is movably connected to the second half-gear (1107).

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